| extends AIController3D | |
| var n_steps_without_positive_reward = 0 | |
| func reset(): | |
| done = true | |
| n_steps = 0 | |
| n_steps_without_positive_reward = 0 | |
| reward = 0.0 | |
| needs_reset = false | |
| func get_obs(): | |
| var next_waypoint_position = GameManager.get_next_waypoint(_player).position | |
| var goal_distance = position.distance_to(next_waypoint_position) | |
| goal_distance = clamp(goal_distance, 0.0, 40.0) | |
| var goal_vector = (next_waypoint_position - position).normalized() | |
| goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y) | |
| var obs = [] | |
| obs.append(goal_distance / 40.0) | |
| obs.append_array([goal_vector.x, goal_vector.y, goal_vector.z]) | |
| var next_next_waypoint_position = GameManager.get_next_next_waypoint(_player).position | |
| var next_next_goal_distance = position.distance_to(next_next_waypoint_position) | |
| next_next_goal_distance = clamp(next_next_goal_distance, 0.0, 80.0) | |
| var next_next_goal_vector = (next_next_waypoint_position - position).normalized() | |
| next_next_goal_vector = next_next_goal_vector.rotated(Vector3.UP, -rotation.y) | |
| obs.append(next_next_goal_distance / 80.0) | |
| obs.append_array([next_next_goal_vector.x, next_next_goal_vector.y, next_next_goal_vector.z]) | |
| obs.append(clamp(_player.brake / 40.0, -1.0, 1.0)) | |
| obs.append(clamp(_player.engine_force / 40.0, -1.0, 1.0)) | |
| obs.append(clamp(_player.steering, -1.0, 1.0)) | |
| obs.append_array( | |
| [ | |
| clamp(_player.linear_velocity.x / 40.0, -1.0, 1.0), | |
| clamp(_player.linear_velocity.y / 40.0, -1.0, 1.0), | |
| clamp(_player.linear_velocity.z / 40.0, -1.0, 1.0) | |
| ] | |
| ) | |
| obs.append_array(_player.sensor.get_observation()) | |
| return {"obs": obs} | |
| func get_action_space(): | |
| return { | |
| "turn": {"size": 1, "action_type": "continuous"}, | |
| "accelerate": {"size": 2, "action_type": "discrete"}, | |
| "brake": {"size": 2, "action_type": "discrete"}, | |
| } | |
| func set_action(action): | |
| _player.turn_action = action["turn"][0] | |
| _player.acc_action = action["accelerate"] == 1 | |
| _player.brake_action = action["brake"] == 1 | |
| func get_reward(): | |
| var total_reward = reward + shaping_reward() | |
| if total_reward <= 0.0: | |
| n_steps_without_positive_reward += 1 | |
| else: | |
| n_steps_without_positive_reward -= 1 | |
| n_steps_without_positive_reward = max(0, n_steps_without_positive_reward) | |
| return total_reward | |
| func shaping_reward(): | |
| var s_reward = 0.0 | |
| var goal_distance = _player.position.distance_to( | |
| GameManager.get_next_waypoint(_player).position | |
| ) | |
| #prints(goal_distance, best_goal_distance, best_goal_distance - goal_distance) | |
| if goal_distance < _player.best_goal_distance: | |
| s_reward += _player.best_goal_distance - goal_distance | |
| _player.best_goal_distance = goal_distance | |
| # A speed based reward | |
| var speed_reward = _player.linear_velocity.length() / 100 | |
| speed_reward = clamp(speed_reward, 0.0, 0.1) | |
| return s_reward + speed_reward | |